相关论文: Monocular Depth Estimation with Directional Consis…

Unsupervised learning based depth estimation methods have received more and more attention as they do not need vast quantities of densely labeled data for training which are touch to acquire. In this paper, we propose a novel unsupervised…

Unsupervised depth learning takes the appearance difference between a target view and a view synthesized from its adjacent frame as supervisory signal. Since the supervisory signal only comes from images themselves, the resolution of…

Monocular depth estimation has become one of the most studied applications in computer vision, where the most accurate approaches are based on fully supervised learning models. However, the acquisition of accurate and large ground truth…

As an agent moves through the world, the apparent motion of scene elements is (usually) inversely proportional to their depth. It is natural for a learning agent to associate image patterns with the magnitude of their displacement over…

Self-supervised depth estimation for indoor environments is more challenging than its outdoor counterpart in at least the following two aspects: (i) the depth range of indoor sequences varies a lot across different frames, making it…

Depth from a monocular video can enable billions of devices and robots with a single camera to see the world in 3D. In this paper, we present an approach with a differentiable flow-to-depth layer for video depth estimation. The model…

Monocular Depth Estimation (MDE) enables spatial understanding, 3D reconstruction, and autonomous navigation, yet deep learning approaches often predict only relative depth without a consistent metric scale. This limitation reduces…

Understanding the geometry and pose of objects in 2D images is a fundamental necessity for a wide range of real world applications. Driven by deep neural networks, recent methods have brought significant improvements to object pose…

Estimating the depth of comics images is challenging as such images a) are monocular; b) lack ground-truth depth annotations; c) differ across different artistic styles; d) are sparse and noisy. We thus, use an off-the-shelf unsupervised…

We propose a method for metric-scale monocular depth estimation. Inferring depth from a single image is an ill-posed problem due to the loss of scale from perspective projection during the image formation process. Any scale chosen is a…

We present a novel unsupervised learning framework for single view depth estimation using monocular videos. It is well known in 3D vision that enlarging the baseline can increase the depth estimation accuracy, and jointly optimizing a set…

Recent developments in monocular depth estimation methods enable high-quality depth estimation of single-view images but fail to estimate consistent video depth across different frames. Recent works address this problem by applying a video…

Accurate distance estimation is a fundamental challenge in robotic perception, particularly in omnidirectional imaging, where traditional geometric methods struggle with lens distortions and environmental variability. In this work, we…

Deducing a 3D human pose from a single 2D image is inherently challenging because multiple 3D poses can correspond to the same 2D representation. 3D data can resolve this pose ambiguity, but it is expensive to record and requires an…

Monocular visual odometry (VO) is an important task in robotics and computer vision. Thus far, how to build accurate and robust monocular VO systems that can work well in diverse scenarios remains largely unsolved. In this paper, we propose…

Self-supervised depth learning from monocular images normally relies on the 2D pixel-wise photometric relation between temporally adjacent image frames. However, they neither fully exploit the 3D point-wise geometric correspondences, nor…

We present a novel approach for metric dense depth estimation based on the fusion of a single-view image and a sparse, noisy Radar point cloud. The direct fusion of heterogeneous Radar and image data, or their encodings, tends to yield…

3D object detection based on monocular camera data is a key enabler for autonomous driving. The task however, is ill-posed due to lack of depth information in 2D images. Recent deep learning methods show promising results to recover depth…

We present a self-supervised approach to training convolutional neural networks for dense depth estimation from monocular endoscopy data without a priori modeling of anatomy or shading. Our method only requires monocular endoscopic videos…

Event cameras are novel sensors that output brightness changes in the form of a stream of asynchronous events instead of intensity frames. Compared to conventional image sensors, they offer significant advantages: high temporal resolution,…